1 - Can we use Stereo cameras which is integrated in the VOXL flight deck for performing the SLAM? Yes! definitely possible. To consume the stereo frames, you'll need to disable VOA in voxl-vision-px4 if that is currently enabled. This repo should create a depth map and publish to ROS: https://github.com/ATLFlight/dfs-ros-example 2-IsTOF sensor a better choice for performing SLAM. And if yes, do we need to replace the stereo cameras with the TOF? that depends. TOF works better indoors, and stereo works better outdoors. An upcoming software release, potentially 3.1, will support stereo and TOF concurrently. One of the other image sensors will need to be removed though for support, like the 4k high-res. 3- What is the difference between SLAM performed by Stereo camera and SLAM performed by TOF sensor? Stereo works better outdoors, TOF works better indoors.

I was trying to rosdep update on some custom packages. But then ended up adding source directly to the workspace.

You can find where to download most of our software at this page: https://docs.modalai.com/voxl-supporting-software/ MV SDK is Qualcomm software which can be found here: https://developer.qualcomm.com/software/machine-vision-sdk machine-vision-sdk

Hi @Tejas-Shah . Yes you can. We are using AT10 right now for ouru work.

Can you connect the Flight Core to QGroundControl using USB, and then go to the MAVLink console? You can run rc_input status from there and check if you see anything: [image: 1608185111267-0066d34f-b16e-484e-8d72-a3cc5ee1b909-image-resized.png]

Hi @gauravshukla914 , Our flight controller is a little unique in that it can't be powered off USB so yes, it will lose power and connection during the standard process. (The reason being our Flight Controller shares the 5V rail with the companion computer and 500mA off USB won't suffice!) To get around this, we have a tool that has a user guide here: https://docs.modalai.com/flight-core-pwm-esc-calibration/ This allows you to keep the battery connected during the ESC calibration process.

Thank you, it works now. I did not think about using my local mavros as connection link between voxl and QGroundControl. I changed the port. The original issue was a binary installed mavros which crashed when using a gcs_url. So I thought it was a configuration problem but building mavros from source and running with your proposed configuration worked. Thank you again! Raphael

Yes, pinout here and connector type here: https://docs.modalai.com/flight-core-datasheet-connectors/#j2---programming-and-debug-console You need to make a little wiring harness to connect the JLink to J2 You don't need to the debug console (pins 2/3) for flashing, but if you are making a harness might as well and you can use it for debugging bootup if needed. Download the bootloader here: https://storage.googleapis.com/modalai_public/flight_core/bootloader/v5.0-167-g7bc2734/modalai_fc_v1_bl.bin App here: https://storage.googleapis.com/flight-core-firmware-1-10/latest/modalai_fc-v1.bin You can download the JLink tools from the SEGGER website if needed. You can use JFlash with a .jlink file with command like so: erase loadbin foo/v5.0-167-g7bc2734.bin,0x08000000 loadbin foo/v1.10.0-15-g782a54bfd6.bin,0x08008000 r q x

Hello! Always good to be safe. Have you read the documentation here. I believe this is what you are looking for

@Chad-Sweet @Alex-Kushleyev We are using voxl_cam_ros, found here https://docs.modalai.com/voxl-cam-ros/ We are running the camera at 1920x1440 Can we even "turn on" AWB when using voxl_cam_ros? As of now we have not found out how to do so. Our team needs to continue with ROS, so we cannot switch to another framework.

Hello! We can't use the original docker service file on voxl as a few extra steps are required for docker to run on our platform. Both the installation of the voxl-docker-support package and execution of voxl-configure-docker-support.sh try to stop and disable docker.service as it gets in the way. Instead it is replaced by our own service files which should be enabled by the voxl-configure-docker.sh script. What is the output you see when you run this script? Best, James

Oh man. , thank you so much that was the issue

Quick note: one could set px4 parameters from VOXL using the following tool: https://docs.modalai.com/voxl-vision-px4-nuttx-shell/